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Journal of Biomedical Optics

Detecting stages of needle penetration into tissues through force estimation at needle tip using fiber Bragg grating sensors
Author(s): Saurabh Kumar; Venkoba Shrikanth; Bharadwaj Amrutur; Sundarrajan Asokan; Musuvathi S. Bobji
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Paper Abstract

Several medical procedures involve the use of needles. The advent of robotic and robot assisted procedures requires dynamic estimation of the needle tip location during insertion for use in both assistive systems as well as for automatic control. Most prior studies have focused on the maneuvering of solid flexible needles using external force measurements at the base of the needle holder. However, hollow needles are used in several procedures and measurements of forces in proximity of such needles can eliminate the need for estimating frictional forces that have high variations. These measurements are also significant for endoscopic procedures in which measurement of forces at the needle holder base is difficult. Fiber Bragg grating sensors, due to their small size, inert nature, and multiplexing capability, provide a good option for this purpose. Force measurements have been undertaken during needle insertion into tissue mimicking phantoms made of polydimethylsiloxane as well as chicken tissue using an 18-G needle instrumented with FBG sensors. The results obtained show that it is possible to estimate the different stages of needle penetration including partial rupture, which is significant for procedures in which precise estimation of needle tip position inside the organ or tissue is required.

Paper Details

Date Published: 30 December 2016
PDF: 7 pages
J. Biomed. Opt. 21(12) 127009 doi: 10.1117/1.JBO.21.12.127009
Published in: Journal of Biomedical Optics Volume 21, Issue 12
Show Author Affiliations
Saurabh Kumar, Indian Institute of Science (India)
Robert Bosch Engineering and Business Solutions Pvt. Ltd. (India)
Venkoba Shrikanth, PES Institute of Technology (India)
Bharadwaj Amrutur, Indian Institute of Science (India)
Sundarrajan Asokan, Indian Institute of Science (India)
Musuvathi S. Bobji, Indian Institute of Science (India)


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